Enhanced stochastic mobility prediction with multi-output Gaussian processes

Publisher:
Springer
Publication Type:
Chapter
Citation:
2015, 302 pp. 173 - 190
Issue Date:
2015-01-01
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© Springer International Publishing Switzerland 2016.Outdoor robots such as planetary rovers must be able to navigate safely and reliably in order to successfully perform missions in remote or hostile environments. Mobility prediction is critical to achieving this goal due to the inherent control uncertainty faced by robots traversing natural terrain. We propose a novel algorithm for stochastic mobility prediction based on multi-output Gaussian process regression. Our algorithm considers the correlation between heading and distance uncertainty and provides a predictive model that can easily be exploited by motion planning algorithms. We evaluate our method experimentally and report results from over 30 trials in a Mars-analogue environment that demonstrate the effectiveness of our method and illustrate the importance of mobility prediction in navigating challenging terrain.
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